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This paper outlines a new procedure for topology optimization in the steady-state fluid-structure interaction (FSI) problem. A review of current topology optimization methods highlights the difficulties in alternating between the two distinct sets of governing equations for fluid and structure dynamics (hereafter, the fluid and structural equations, respectively) and in imposing coupling boundary conditions between the separated fluid and solid domains. To overcome these difficulties, we propose an alternative monolithic procedure employing a unified domain rather than separated domains, which is not computationally efficient. In the proposed analysis procedure, the spatial differential operator of the fluid and structural equations for a deformed configuration is transformed into that for an undeformed configuration with the help of the deformation gradient tensor. For the coupling boundary conditions, the divergence of the pressure and the Darcy damping force are inserted to the solid and fluid equations, respectively. The proposed method is validated in several benchmark analysis problems. Topology optimization in the FSI problem is then made possible by interpolating Young’s modulus, the fluid pressure of the modified solid equation, and the inverse permeability from the damping force with respect to the design variables.